Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received March 14, 2012; final manuscript received January 6, 2013; published online September 11, 2013. Assoc. Editor: Delun Wang.

A method for autogeneration/draw of valid arrays and contracted graphs by cad is studied in this paper. First, the concepts and relative new criteria of arrays and contracted graphs (CGs) are explained for the representation/generation of the CGs and the identification of the isomorphic/invalid CGs using the arrays. Second, a software is created in Visual Basic for automatically generating the arrays of the CGs with pentagonal links, identifying the isomorphic/invalid arrays, generating the valid arrays, and automatically drawing their CGs. Third, the interface of the software and the main functions of the compiled programs are explained. Finally, some examples are given to illustrate this software and method.

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